The adaptive control system of quadrocopter motion

In this paper we present a system for automatic control of a quadrocopter based on the adaptive control system. The task is to ensure the motion of the quadrocopter along the given route and to control the stabilization of the quadrocopter in the air in a horizontal or in a given angular position by sending control signals to the engines. The nonlinear model of a quadrocopter is expressed in the form of a linear non-stationary system

Quadcopter Attitude Control Optimization and Multi-Agent Coordination

This thesis presents a method of automated control gain tuning for a Quadcopter Unmanned Aerial Vehicle and proposes a method of coordination multiple autonomous robotic agents capable for formation aggregation. Sliding Mode Control for Quadcopter altitude and attitude stabilization is presented and tuned using Particle Swarm Optimization. Different configurations for the optimization process are compared to determine an effective and time-efficient setup to complete the control gain tuning. The multi-agent coordination scheme expands upon an existing adjustable swarm framework based on an Artificial Potential Field Sliding Mode Controller. The original leader-follower scheme is modified with the goal of producing a leaderless swarm where agents move towards specific locations to aggregate a desired formation. Analysis of the swarm control scheme pays particular attention to maintaining proper distance between agents. Using Lyapunov methods following that of the original controller analysis, stability under first order and general higher order dynamics is analyzed. Numerical simulations of the swarm controller using agents with nonlinear Quadcopter or second order point mass dynamics are presented to illustrate the capabilities of this algorithm. The automatically tuned Quadcopter controller is used in simulations when applicable. The development of an experimental test platform is discussed with the intention of validating the simulation results on physical Quadcopters

Mixed H2/H∞ robust controllers in aircraft control problem

A leading cause of accidents during the landing phase of a flight lies in a considerable altitude loss by an aircraft as a result of the impact of a microburst of wind. One of the significant factors focuses primarily on the need to simultaneously satisfy various requirements regarding conditions of environmental disturbances and a wide range of systemic changes. The paper presents an algorithm for synthesizing an optimal controller that solves the mixed H2/H∞ control problem for the stabilization of aircraft in glide-path landing mode in the presence of uncertainty. Firstly, the principles of multi-criteria optimization are presented, and the mixed H2/H∞ problem is interpreted as the synthesis of a system with optimal quadratic performance, subject to its readiness to operate with the worst disturbance. Then, the ensuing section expounds upon the mathematical depiction of the vertical trajectory of aircraft, duly considering the perturbations imposed by wind phenomena. Subsequently, the effectiveness of mixed H2/H∞ control is confirmed compared to autonomous H2 or H∞ regulators through simulation outcomes acquired from the created system. Optimization based on a hybrid (mixed) criterion allowed combining the strengths of locally optimal systems based only on H2 or H∞ theory